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                mmorpg网络游戏学习5-行为树
            
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            <h3 id="前言"><a href="#前言" class="headerlink" title="前言:"></a><strong>前言:</strong></h3><p>行为树也叫策略树，也就是只负责各种行为的条件判断，不处理具体的行为逻辑。</p>
<a id="more"></a>

<p>行为树以节点的形式表示：</p>
<h3 id="节点"><a href="#节点" class="headerlink" title="节点"></a><strong>节点</strong></h3><figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-comment">/**</span></span><br><span class="line"><span class="hljs-comment"> * 所有行为树节点的父节点</span></span><br><span class="line"><span class="hljs-comment"> * @param blackboard：行为树之间数据传输黑板</span></span><br><span class="line"><span class="hljs-comment"> * @constructor</span></span><br><span class="line"><span class="hljs-comment"> */</span></span><br><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">blackboard</span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.blackboard = blackboard;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="组合节点"><a href="#组合节点" class="headerlink" title="组合节点"></a><strong>组合节点</strong></h3><p>具有多个孩子节点，可以将多个孩子节点的行为组合为更复杂的行为逻辑</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">blackboard</span>)</span>&#123;</span><br><span class="line">	BTNode.call(<span class="hljs-keyword">this</span>,blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.blackboard = blackboard;</span><br><span class="line">	<span class="hljs-keyword">this</span>.children = [];</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,BTNode);</span><br><span class="line"></span><br><span class="line">Node.prototype.addChild =<span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">node</span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.children.push(node);</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="条件节点"><a href="#条件节点" class="headerlink" title="条件节点"></a><strong>条件节点</strong></h3><p>不包含孩子节点行为，只判断条件，相当于每个节点的前提。<br>条件成立，则立即返回succ，失败返回fail</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">opts</span>)</span>&#123;</span><br><span class="line">	BTNode.call(<span class="hljs-keyword">this</span>,opts.blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.cond = opts.cond;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,BTNode);</span><br><span class="line"><span class="hljs-built_in">module</span>.exports = Node;</span><br><span class="line"></span><br><span class="line">Node.prototype.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.cond &amp;&amp; <span class="hljs-keyword">this</span>.cond.call(<span class="hljs-literal">null</span>,<span class="hljs-keyword">this</span>.blackboard)) <span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">	<span class="hljs-keyword">else</span> bt.RES_FAIL;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="装饰节点"><a href="#装饰节点" class="headerlink" title="装饰节点"></a><strong>装饰节点</strong></h3><p>只有一个孩子节点的行为，目的是在孩子节点的原有逻辑上添加细节，如重复执行子节点Loop，改变子节点的返回状态.</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">blackboard,child</span>)</span>&#123;</span><br><span class="line">	BTNode.call(<span class="hljs-keyword">this</span>,blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.blackboard = blackboard;</span><br><span class="line">	<span class="hljs-keyword">this</span>.child =  child;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,BTNode);</span><br><span class="line"></span><br><span class="line">Node.prototype.setChild = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">node</span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.child = node;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="选择组合节点"><a href="#选择组合节点" class="headerlink" title="选择组合节点"></a><strong>选择组合节点</strong></h3><p>依次执行每个孩子节点的行为，只要有一个孩子行为成功，则停止继续执行，直接返回。<br>如果有一个孩子wait，则记录当前孩子节点，返回wait，等待此孩子wait结束，没有一个孩子返回succ，则返回失败fail。</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">opts</span>)</span>&#123;</span><br><span class="line">	Composite.call(<span class="hljs-keyword">this</span>,opts.blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.index = <span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,Composite);</span><br><span class="line"></span><br><span class="line">Node.prototype.reset = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.index = <span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">Node.prototype.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">if</span>(!<span class="hljs-keyword">this</span>.children.length)&#123;</span><br><span class="line">		<span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.index &gt;= <span class="hljs-keyword">this</span>.children.length) <span class="hljs-keyword">this</span>.reset();</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">for</span>(<span class="hljs-keyword">var</span> i = <span class="hljs-keyword">this</span>.children.length;<span class="hljs-keyword">this</span>.index&lt;i;<span class="hljs-keyword">this</span>.index++)&#123;</span><br><span class="line">		</span><br><span class="line">		<span class="hljs-keyword">var</span> res = <span class="hljs-keyword">this</span>.children[<span class="hljs-keyword">this</span>.index].doAction();</span><br><span class="line">		<span class="hljs-keyword">if</span>(res === bt.RES_SUCCESS)&#123;</span><br><span class="line">			<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">			<span class="hljs-keyword">return</span> res;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span> <span class="hljs-keyword">if</span>(res === bt.RES_WAIT)&#123;</span><br><span class="line">			<span class="hljs-keyword">return</span> res;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span>&#123;</span><br><span class="line">			<span class="hljs-keyword">continue</span>;</span><br><span class="line">		&#125;</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">	<span class="hljs-keyword">return</span> bt.RES_FAIL;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="顺序组合节点"><a href="#顺序组合节点" class="headerlink" title="顺序组合节点"></a><strong>顺序组合节点</strong></h3><p>依次执行每个孩子节点，直到所有孩子行为执行成功或者有一个失败为止。<br>如果有一个孩子wait，则记录当前孩子节点，返回wait，等待此孩子wait结束。</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span> (<span class="hljs-params">opts</span>) </span>&#123;</span><br><span class="line">	Composite.call(<span class="hljs-keyword">this</span>,opts.blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.index = <span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,Composite);</span><br><span class="line"></span><br><span class="line">Node.prototype.reset = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.index = <span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line">Node.prototype.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">if</span>(!<span class="hljs-keyword">this</span>.children.length) &#123;</span><br><span class="line">		<span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.index &gt;= <span class="hljs-keyword">this</span>.children.length)&#123;</span><br><span class="line">		<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">for</span>(<span class="hljs-keyword">var</span> i = <span class="hljs-keyword">this</span>.children.length;<span class="hljs-keyword">this</span>.index &lt; i;<span class="hljs-keyword">this</span>.index++)&#123;</span><br><span class="line"></span><br><span class="line">		<span class="hljs-keyword">var</span> res = <span class="hljs-keyword">this</span>.children[<span class="hljs-keyword">this</span>.index].doAction();</span><br><span class="line">		<span class="hljs-keyword">if</span>(res === bt.RES_FAIL)&#123;</span><br><span class="line">			<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">			<span class="hljs-keyword">return</span> res;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span> <span class="hljs-keyword">if</span>(res === bt.RES_WAIT)&#123;</span><br><span class="line">			<span class="hljs-keyword">return</span> res;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span>&#123;</span><br><span class="line">			<span class="hljs-keyword">continue</span>;</span><br><span class="line">		&#125;</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">	<span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="并行组合节点"><a href="#并行组合节点" class="headerlink" title="并行组合节点"></a><strong>并行组合节点</strong></h3><p>并行执行每个孩子节点，统计成功/失败的孩子数量。根据policy策略条件，进行对应的状态返回。<br>如果有孩子返回wait，则hold此孩子，返回wait，等待此孩子状态结束。<br>policy - Parallel节点失败策略，可选值：Parallel.POLICY_FAIL_ON_ONE（一个失败）, Parallel.POLICY_FAIL_ON_ALL(全部失败)等等。</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br><span class="line">46</span><br><span class="line">47</span><br><span class="line">48</span><br><span class="line">49</span><br><span class="line">50</span><br><span class="line">51</span><br><span class="line">52</span><br><span class="line">53</span><br><span class="line">54</span><br><span class="line">55</span><br><span class="line">56</span><br><span class="line">57</span><br><span class="line">58</span><br><span class="line">59</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span> (<span class="hljs-params">opts</span>) </span>&#123;</span><br><span class="line">	Composite.call(<span class="hljs-keyword">this</span>,opts.blackboard);</span><br><span class="line">	<span class="hljs-keyword">this</span>.policy = opts.policy || bt.POLICY_FAIL_NO_ONE;</span><br><span class="line">	<span class="hljs-keyword">this</span>.waits = [];</span><br><span class="line">	<span class="hljs-keyword">this</span>.succ = <span class="hljs-number">0</span>;</span><br><span class="line">	<span class="hljs-keyword">this</span>.fail = <span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,Composite);</span><br><span class="line"></span><br><span class="line"><span class="hljs-built_in">module</span>.exports = Node;</span><br><span class="line"></span><br><span class="line"><span class="hljs-keyword">var</span> pro = Node.prototype;</span><br><span class="line"></span><br><span class="line">pro.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">if</span>(!<span class="hljs-keyword">this</span>.children.length) <span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">	<span class="hljs-keyword">var</span> rest= [];</span><br><span class="line">	<span class="hljs-keyword">var</span> origin = <span class="hljs-keyword">this</span>.waits.length ? <span class="hljs-keyword">this</span>.waits: <span class="hljs-keyword">this</span>.children;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">for</span>(<span class="hljs-keyword">var</span> i=<span class="hljs-number">0</span>,l=origin.length;i&lt;l;i++)&#123;</span><br><span class="line">		<span class="hljs-keyword">var</span> res = origin[i].doAction();</span><br><span class="line">		<span class="hljs-keyword">if</span>(res === bt.RES_SUCCESS)&#123;</span><br><span class="line">			<span class="hljs-keyword">this</span>.succ++;</span><br><span class="line">			<span class="hljs-keyword">continue</span>;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span> <span class="hljs-keyword">if</span>(res === bt.RES_FAIL)&#123;</span><br><span class="line">			<span class="hljs-keyword">this</span>.fail++;</span><br><span class="line">			<span class="hljs-keyword">continue</span>;</span><br><span class="line">		&#125;<span class="hljs-keyword">else</span>&#123;</span><br><span class="line">			rest.push(origin[i]);</span><br><span class="line">			<span class="hljs-keyword">break</span>;</span><br><span class="line">		&#125;</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">if</span>(rest.length)&#123;</span><br><span class="line">		<span class="hljs-keyword">this</span>.waits = rest;</span><br><span class="line">		<span class="hljs-keyword">return</span> bt.RES_WAIT;</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	res = <span class="hljs-keyword">this</span>.checkPolicy();</span><br><span class="line">	<span class="hljs-keyword">this</span>.reset();</span><br><span class="line">	<span class="hljs-keyword">return</span> res;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">pro.reset = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">this</span>.waits.length =<span class="hljs-number">0</span>;</span><br><span class="line">	<span class="hljs-keyword">this</span>.succ=<span class="hljs-number">0</span>;</span><br><span class="line">	<span class="hljs-keyword">this</span>.fail =<span class="hljs-number">0</span>;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">pro.checkPolicy = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-comment">//只要有1个失败条件则失败</span></span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.policy === bt.POLICY_FAIL_NO_ONE)&#123;</span><br><span class="line">		<span class="hljs-keyword">return</span> <span class="hljs-keyword">this</span>.fail? bt.RES_FAIL:bt.RES_SUCCESS;</span><br><span class="line">	&#125;</span><br><span class="line">	<span class="hljs-comment">//只要全部失败才失败</span></span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.policy === bt.POLICY_FAIL_NO_ALL)&#123;</span><br><span class="line">		<span class="hljs-keyword">return</span> <span class="hljs-keyword">this</span>.succ ? bt.RES_SUCCESS:bt.RES_FAIL;</span><br><span class="line">	&#125;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="循环装饰节点"><a href="#循环装饰节点" class="headerlink" title="循环装饰节点"></a><strong>循环装饰节点</strong></h3><p>根据条件函数，循环执行孩子行为，直到孩子返回fail或条件失败。<br>当孩子wait，则返回wait。等待孩子执行结束。</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-comment">/**</span></span><br><span class="line"><span class="hljs-comment"> * 循环装饰节点: 根据条件函数，循环执行孩子行为. 直到孩子返回fail,或条件失败</span></span><br><span class="line"><span class="hljs-comment"> *  当孩子返回wait。hold此孩子状态，返回父节点wait。等待孩子执行结束。</span></span><br><span class="line"><span class="hljs-comment"> * @param opts</span></span><br><span class="line"><span class="hljs-comment"> * opts.loopCond(blackboard) - 循环条件判断函数。返回true表示循环条件成立，否则不成立。</span></span><br><span class="line"><span class="hljs-comment"> * @constructor</span></span><br><span class="line"><span class="hljs-comment"> */</span></span><br><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">opts</span>)</span>&#123;</span><br><span class="line">	Decorator.call(<span class="hljs-keyword">this</span>,opts.blackboard,opts.child);</span><br><span class="line">	<span class="hljs-keyword">this</span>.loopCond = opts.loopCond;</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,Decorator);</span><br><span class="line"></span><br><span class="line"><span class="hljs-built_in">module</span>.exports = Node;</span><br><span class="line"><span class="hljs-keyword">var</span> pro = Node.prototype;</span><br><span class="line"></span><br><span class="line"></span><br><span class="line">pro.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	<span class="hljs-keyword">var</span> res = <span class="hljs-keyword">this</span>.child.doAction();</span><br><span class="line">	<span class="hljs-keyword">if</span>(res !== bt.RES_SUCCESS)</span><br><span class="line">		<span class="hljs-keyword">return</span> res;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">if</span>(<span class="hljs-keyword">this</span>.loopCond &amp;&amp; <span class="hljs-keyword">this</span>.loopCond.call(<span class="hljs-literal">null</span>,<span class="hljs-keyword">this</span>.blackboard))&#123;</span><br><span class="line">		<span class="hljs-keyword">return</span> bt.RES_WAIT;</span><br><span class="line">	&#125;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">return</span> bt.RES_SUCCESS;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="条件组合节点"><a href="#条件组合节点" class="headerlink" title="条件组合节点"></a><strong>条件组合节点</strong></h3><p>根据条件判断，执行关联的孩子节点。相当于IF条件判断。</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br></pre></td><td class="code"><pre><span class="line"><span class="hljs-keyword">var</span> Node = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params">opts</span>)</span>&#123;</span><br><span class="line">	BTNode.call(<span class="hljs-keyword">this</span>,opts.blackboard);</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">this</span>.action = <span class="hljs-keyword">new</span> Sequence(&#123;</span><br><span class="line">		blackboard:opts.blackboard</span><br><span class="line">	&#125;);</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">var</span> condition = <span class="hljs-keyword">new</span> Condition(&#123;</span><br><span class="line">		blackboard:opts.blackboard,</span><br><span class="line">		cond:opts.cond</span><br><span class="line">	&#125;);</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">this</span>.action.addChild(condition);</span><br><span class="line">	<span class="hljs-keyword">this</span>.action.addChild(opts.action);</span><br><span class="line">&#125;;</span><br><span class="line"></span><br><span class="line">util.inherits(Node,BTNode);</span><br><span class="line"><span class="hljs-built_in">module</span>.exports = Node;</span><br><span class="line"></span><br><span class="line">Node.prototype.doAction = <span class="hljs-function"><span class="hljs-keyword">function</span>(<span class="hljs-params"></span>)</span>&#123;</span><br><span class="line">	</span><br><span class="line">	<span class="hljs-keyword">return</span> <span class="hljs-keyword">this</span>.action.doAction();</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

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